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<div class="title">transformation_estimation_point_to_plane_weighted.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *  Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Copyright (c) Alexandru-Eugen Ichim</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation_point_to_plane.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/warp_point_rigid.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/distances.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> MatScalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">TransformationEstimationPointToPlane</a>&lt;PointSource, PointTarget, MatScalar&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;TransformationEstimationPointToPlaneWeighted&lt;PointSource, PointTarget, MatScalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const TransformationEstimationPointToPlaneWeighted&lt;PointSource, PointTarget, MatScalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;MatScalar, Eigen::Dynamic, 1&gt; VectorX;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;MatScalar, 4, 1&gt; Vector4;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation&lt;PointSource, PointTarget, MatScalar&gt;::Matrix4</a> Matrix4;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa1ef683e7e3a8d91e6397ef54508db2e">TransformationEstimationPointToPlaneWeighted</a> ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a31190d3f78a943a90fa905514d3d8f15">   84</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a31190d3f78a943a90fa905514d3d8f15">TransformationEstimationPointToPlaneWeighted</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> &amp;src) :</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a>), </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a>), </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a>), </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a>), </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a> (src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>),</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          correspondence_weights_ (src.correspondence_weights_),</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          use_correspondence_weights_ (src.use_correspondence_weights_)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {};</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a>&amp;</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9d584791047ba8edaca454ba5e09c36c">   98</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9d584791047ba8edaca454ba5e09c36c">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> &amp;src)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a>; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a>; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a>; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a> = src.<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          correspondence_weights_ = src.correspondence_weights_;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          use_correspondence_weights_ = src.use_correspondence_weights_;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a6f10cd509f62acd1409e7b16f3eac574">  110</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a6f10cd509f62acd1409e7b16f3eac574">~TransformationEstimationPointToPlaneWeighted</a> () {};</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt,</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a> (</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <span class="keyword">const</span> pcl::Correspondences &amp;correspondences,</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            Matrix4 &amp;transformation_matrix) <span class="keyword">const</span>;  </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        setWeights (<span class="keyword">const</span> std::vector&lt;double&gt; &amp;weights)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        { correspondence_weights_ = weights; }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a509f761b6fd51f9a29db11623ae021d0">  176</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a509f761b6fd51f9a29db11623ae021d0">setUseCorrespondenceWeights</a> (<span class="keywordtype">bool</span> use_correspondence_weights)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        { use_correspondence_weights_ = use_correspondence_weights; }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#ac02dcb949529eb673d902353c436ad03">  183</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#ac02dcb949529eb673d902353c436ad03">setWarpFunction</a> (<span class="keyword">const</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid&lt;PointSource, PointTarget, MatScalar&gt;</a> &gt; &amp;warp_fcn)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        { <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a> = warp_fcn; }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">bool</span> use_correspondence_weights_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keyword">mutable</span> std::vector&lt;double&gt; correspondence_weights_;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">  191</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">  194</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>  *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">  197</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">  200</a></span>&#160;        <span class="keyword">mutable</span> <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">  203</a></span>&#160;        boost::shared_ptr&lt;pcl::registration::WarpPointRigid&lt;PointSource, PointTarget, MatScalar&gt; &gt; <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> NX=Eigen::Dynamic, <span class="keywordtype">int</span> NY=Eigen::Dynamic&gt;</div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">  210</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="keyword">typedef</span> _Scalar Scalar;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          <span class="keyword">enum</span> </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            InputsAtCompileTime = NX,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            ValuesAtCompileTime = NY</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          };</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;_Scalar,InputsAtCompileTime,1&gt; InputType;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;_Scalar,ValuesAtCompileTime,1&gt; ValueType;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keyword">typedef</span> Eigen::Matrix&lt;_Scalar,ValuesAtCompileTime,InputsAtCompileTime&gt; JacobianType;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#af43ba6b7aff18edd2128a409bcc3bb75">  223</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#af43ba6b7aff18edd2128a409bcc3bb75">Functor</a> () : m_data_points_ (ValuesAtCompileTime) {}</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#aa9ff67909b2efa27e1739fbfc06795c5">  228</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#aa9ff67909b2efa27e1739fbfc06795c5">Functor</a> (<span class="keywordtype">int</span> m_data_points) : m_data_points_ (m_data_points) {}</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a63cf8d06c2913ef909fc9ef00f77133f">  231</a></span>&#160;          <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a63cf8d06c2913ef909fc9ef00f77133f">~Functor</a> () {}</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a429be0de2f236ad12cf74cb64826545e">  235</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a429be0de2f236ad12cf74cb64826545e">values</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (m_data_points_); }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            <span class="keywordtype">int</span> m_data_points_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        };</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">  241</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">OptimizationFunctor</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a>&lt;MatScalar&gt;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          <span class="keyword">using</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor&lt;MatScalar&gt;::values</a>;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#a0f7e0c89582eda9989cfe4e032a3a192">  249</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#a0f7e0c89582eda9989cfe4e032a3a192">OptimizationFunctor</a> (<span class="keywordtype">int</span> m_data_points, </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> *estimator)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            :  <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (m_data_points), estimator_ (estimator) </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          {}</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#a2eb5223add9de97bed868990f6c888d1">  257</a></span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#a2eb5223add9de97bed868990f6c888d1">OptimizationFunctor</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">OptimizationFunctor</a> &amp;src) : </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (src.m_data_points_), estimator_ ()</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">OptimizationFunctor</a>&amp; </div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#acd82b599947bc7790fe1f6b7108a6370">  267</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#acd82b599947bc7790fe1f6b7108a6370">operator = </a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">OptimizationFunctor</a> &amp;src) </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          { </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;            <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor&lt;MatScalar&gt;::operator=</a>(src);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;            estimator_ = src.estimator_; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;            <span class="keywordflow">return</span> (*<span class="keyword">this</span>); </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#ac4d93786748df75f7656a93f67557420">  275</a></span>&#160;          <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#ac4d93786748df75f7656a93f67557420">~OptimizationFunctor</a> () {}</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#ae89a29bdcb00645d22dac7bca7ac8519">operator () </a>(<span class="keyword">const</span> VectorX &amp;x, VectorX &amp;fvec) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted&lt;PointSource, PointTarget, MatScalar&gt;</a> *estimator_;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        };</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">  287</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a>&lt;MatScalar&gt;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          <span class="keyword">using</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor&lt;MatScalar&gt;::values</a>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#ae1e74c878a938120deb6b3135225f334">  295</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#ae1e74c878a938120deb6b3135225f334">OptimizationFunctorWithIndices</a> (<span class="keywordtype">int</span> m_data_points, </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                          <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> *estimator)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;            : <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (m_data_points), estimator_ (estimator) </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          {}</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a536aeab06d1210b7695471aff0029af0">  303</a></span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a536aeab06d1210b7695471aff0029af0">OptimizationFunctorWithIndices</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;src)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            : <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a>&lt;MatScalar&gt; (src.m_data_points_), estimator_ ()</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            *<span class="keyword">this</span> = src;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keyword">inline</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a>&amp; </div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a46c8b467b50f25702ba030411a8e5b89">  313</a></span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a46c8b467b50f25702ba030411a8e5b89">operator = </a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> &amp;src) </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          { </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor&lt;MatScalar&gt;::operator=</a>(src);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            estimator_ = src.estimator_; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            <span class="keywordflow">return</span> (*<span class="keyword">this</span>); </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a2be695cc326abc1299db2f5c6acac3f0">  321</a></span>&#160;          <span class="keyword">virtual</span> <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a2be695cc326abc1299db2f5c6acac3f0">~OptimizationFunctorWithIndices</a> () {}</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;          <a class="code" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#aa0fe3b4fb7eb08c8ea7d8774ec19ae4d">operator () </a>(<span class="keyword">const</span> VectorX &amp;x, VectorX &amp;fvec) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted&lt;PointSource, PointTarget, MatScalar&gt;</a> *estimator_;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        };</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    };</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;}</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/transformation_estimation_point_to_plane_weighted.hpp&gt;</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_POINT_TO_PLANE_WEIGHTED_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a></div><div class="ttdoc">TransformationEstimation represents the base class for methods for transformation estimation based on...</div><div class="ttdef"><b>Definition:</b> transformation_estimation.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">pcl::registration::TransformationEstimationPointToPlane</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a25c896f93f052ad72bcd4268beac017f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_tgt_</a></div><div class="ttdeci">const PointCloudTarget * tmp_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a31190d3f78a943a90fa905514d3d8f15"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a31190d3f78a943a90fa905514d3d8f15">pcl::registration::TransformationEstimationPointToPlaneWeighted::TransformationEstimationPointToPlaneWeighted</a></div><div class="ttdeci">TransformationEstimationPointToPlaneWeighted(const TransformationEstimationPointToPlaneWeighted &amp;src)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a509f761b6fd51f9a29db11623ae021d0"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a509f761b6fd51f9a29db11623ae021d0">pcl::registration::TransformationEstimationPointToPlaneWeighted::setUseCorrespondenceWeights</a></div><div class="ttdeci">void setUseCorrespondenceWeights(bool use_correspondence_weights)</div><div class="ttdoc">use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (....</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a6f10cd509f62acd1409e7b16f3eac574"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a6f10cd509f62acd1409e7b16f3eac574">pcl::registration::TransformationEstimationPointToPlaneWeighted::~TransformationEstimationPointToPlaneWeighted</a></div><div class="ttdeci">virtual ~TransformationEstimationPointToPlaneWeighted()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a8077fa4e2aca0cb22546b1973c8a0bd2"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using LM.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a89c7b6260885beaf2ced53bca74b1f13"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">pcl::registration::TransformationEstimationPointToPlaneWeighted::warp_point_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::registration::WarpPointRigid&lt; PointSource, PointTarget, MatScalar &gt; &gt; warp_point_</div><div class="ttdoc">The parameterized function used to warp the source to the target.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9623915c6e1a55cc2d6019553cac3a1f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_src_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_src_</div><div class="ttdoc">Temporary pointer to the source dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9a76f8ffc1af3381de3ffe52256dc9ce"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_src_</a></div><div class="ttdeci">const PointCloudSource * tmp_src_</div><div class="ttdoc">Temporary pointer to the source dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9d584791047ba8edaca454ba5e09c36c"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9d584791047ba8edaca454ba5e09c36c">pcl::registration::TransformationEstimationPointToPlaneWeighted::operator=</a></div><div class="ttdeci">TransformationEstimationPointToPlaneWeighted &amp; operator=(const TransformationEstimationPointToPlaneWeighted &amp;src)</div><div class="ttdoc">Copy operator.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_aa1ef683e7e3a8d91e6397ef54508db2e"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa1ef683e7e3a8d91e6397ef54508db2e">pcl::registration::TransformationEstimationPointToPlaneWeighted::TransformationEstimationPointToPlaneWeighted</a></div><div class="ttdeci">TransformationEstimationPointToPlaneWeighted()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_aa4cd3f6b20447bac66d6c02c5af69c67"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_tgt_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_ac02dcb949529eb673d902353c436ad03"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#ac02dcb949529eb673d902353c436ad03">pcl::registration::TransformationEstimationPointToPlaneWeighted::setWarpFunction</a></div><div class="ttdeci">void setWarpFunction(const boost::shared_ptr&lt; WarpPointRigid&lt; PointSource, PointTarget, MatScalar &gt; &gt; &amp;warp_fcn)</div><div class="ttdoc">Set the function we use to warp points. Defaults to rigid 6D warp.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid</a></div><div class="ttdoc">Base warp point class.</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:58</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:211</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor_html_a429be0de2f236ad12cf74cb64826545e"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a429be0de2f236ad12cf74cb64826545e">pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::values</a></div><div class="ttdeci">int values() const</div><div class="ttdoc">Get the number of values.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:235</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor_html_a63cf8d06c2913ef909fc9ef00f77133f"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#a63cf8d06c2913ef909fc9ef00f77133f">pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::~Functor</a></div><div class="ttdeci">virtual ~Functor()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:231</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor_html_aa9ff67909b2efa27e1739fbfc06795c5"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#aa9ff67909b2efa27e1739fbfc06795c5">pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::Functor</a></div><div class="ttdeci">Functor(int m_data_points)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:228</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor_html_af43ba6b7aff18edd2128a409bcc3bb75"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html#af43ba6b7aff18edd2128a409bcc3bb75">pcl::registration::TransformationEstimationPointToPlaneWeighted::Functor::Functor</a></div><div class="ttdeci">Functor()</div><div class="ttdoc">Empty Construtor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:223</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:242</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_html_a0f7e0c89582eda9989cfe4e032a3a192"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#a0f7e0c89582eda9989cfe4e032a3a192">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::OptimizationFunctor</a></div><div class="ttdeci">OptimizationFunctor(int m_data_points, const TransformationEstimationPointToPlaneWeighted *estimator)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:249</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_html_a2eb5223add9de97bed868990f6c888d1"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#a2eb5223add9de97bed868990f6c888d1">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::OptimizationFunctor</a></div><div class="ttdeci">OptimizationFunctor(const OptimizationFunctor &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:257</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_html_ac4d93786748df75f7656a93f67557420"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#ac4d93786748df75f7656a93f67557420">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::~OptimizationFunctor</a></div><div class="ttdeci">virtual ~OptimizationFunctor()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:275</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_html_acd82b599947bc7790fe1f6b7108a6370"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#acd82b599947bc7790fe1f6b7108a6370">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::operator=</a></div><div class="ttdeci">OptimizationFunctor &amp; operator=(const OptimizationFunctor &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:267</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_html_ae89a29bdcb00645d22dac7bca7ac8519"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html#ae89a29bdcb00645d22dac7bca7ac8519">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctor::operator()</a></div><div class="ttdeci">int operator()(const VectorX &amp;x, VectorX &amp;fvec) const</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.hpp:249</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:288</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices_html_a2be695cc326abc1299db2f5c6acac3f0"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a2be695cc326abc1299db2f5c6acac3f0">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::~OptimizationFunctorWithIndices</a></div><div class="ttdeci">virtual ~OptimizationFunctorWithIndices()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:321</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices_html_a46c8b467b50f25702ba030411a8e5b89"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a46c8b467b50f25702ba030411a8e5b89">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::operator=</a></div><div class="ttdeci">OptimizationFunctorWithIndices &amp; operator=(const OptimizationFunctorWithIndices &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:313</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices_html_a536aeab06d1210b7695471aff0029af0"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#a536aeab06d1210b7695471aff0029af0">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices</a></div><div class="ttdeci">OptimizationFunctorWithIndices(const OptimizationFunctorWithIndices &amp;src)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:303</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices_html_aa0fe3b4fb7eb08c8ea7d8774ec19ae4d"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#aa0fe3b4fb7eb08c8ea7d8774ec19ae4d">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::operator()</a></div><div class="ttdeci">int operator()(const VectorX &amp;x, VectorX &amp;fvec) const</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.hpp:276</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices_html_ae1e74c878a938120deb6b3135225f334"><div class="ttname"><a href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor_with_indices.html#ae1e74c878a938120deb6b3135225f334">pcl::registration::TransformationEstimationPointToPlaneWeighted::OptimizationFunctorWithIndices::OptimizationFunctorWithIndices</a></div><div class="ttdeci">OptimizationFunctorWithIndices(int m_data_points, const TransformationEstimationPointToPlaneWeighted *estimator)</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:295</div></div>
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